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<div class="title">PCLPointCloud2.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#ifdef USE_ROS</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">   #error USE_ROS setup requires PCL to compile against ROS message headers, which is now deprecated</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;boost/detail/endian.hpp&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// Include the correct Header path here</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLHeader.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointField.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_c_l_point_cloud2.html">   20</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> () : header (), height (0), width (0), fields (),</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                     is_bigendian (<span class="keyword">false</span>), point_step (0), row_step (0),</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                     data (), is_dense (<span class="keyword">false</span>)</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#if defined(BOOST_BIG_ENDIAN)</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      is_bigendian = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#elif defined(BOOST_LITTLE_ENDIAN)</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      is_bigendian = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#error &quot;unable to determine system endianness&quot;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="structpcl_1_1_p_c_l_header.html">::pcl::PCLHeader</a> header;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    pcl::uint32_t height;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    pcl::uint32_t width;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    std::vector&lt; ::pcl::PCLPointField&gt;  fields;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    pcl::uint8_t is_bigendian;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    pcl::uint32_t point_step;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    pcl::uint32_t row_step;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    std::vector&lt;pcl::uint8_t&gt; data;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    pcl::uint8_t is_dense;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">typedef</span> boost::shared_ptr&lt; ::pcl::PCLPointCloud2&gt; Ptr;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">typedef</span> boost::shared_ptr&lt; ::pcl::PCLPointCloud2  const&gt; ConstPtr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }; <span class="comment">// struct PCLPointCloud2</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">typedef</span> boost::shared_ptr&lt; ::pcl::PCLPointCloud2&gt; PCLPointCloud2Ptr;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">typedef</span> boost::shared_ptr&lt; ::pcl::PCLPointCloud2 const&gt; PCLPointCloud2ConstPtr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">inline</span> std::ostream&amp; operator&lt;&lt;(std::ostream&amp; s, const  ::pcl::PCLPointCloud2 &amp;v)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;header: &quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    s &lt;&lt; v.header;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;height: &quot;</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.height &lt;&lt; std::endl;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;width: &quot;</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.width &lt;&lt; std::endl;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;fields[]&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; v.fields.size (); ++i)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      s &lt;&lt; <span class="stringliteral">&quot;  fields[&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      s &lt;&lt; std::endl;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      s &lt;&lt; <span class="stringliteral">&quot;    &quot;</span> &lt;&lt; v.fields[i] &lt;&lt; std::endl;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;is_bigendian: &quot;</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.is_bigendian &lt;&lt; std::endl;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;point_step: &quot;</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.point_step &lt;&lt; std::endl;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;row_step: &quot;</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.row_step &lt;&lt; std::endl;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;data[]&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; v.data.size (); ++i)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      s &lt;&lt; <span class="stringliteral">&quot;  data[&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.data[i] &lt;&lt; std::endl;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;is_dense: &quot;</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;  &quot;</span> &lt;&lt; v.is_dense &lt;&lt; std::endl;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">return</span> (s);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="ttc" id="astructpcl_1_1_p_c_l_header_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a></div><div class="ttdef"><b>Definition:</b> PCLHeader.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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